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DC Field Value Language 구영모 ko 박희진 ko 2018-01-25T00:43:09Z - 2018-01-25T00:43:09Z - 2018-01-17 - 2012-12 -
dc.identifier.citation Journal of Biosystems Engineering, v.37, no.6, pp.342 - 351 -
dc.identifier.issn 1738-1266 -
dc.identifier.uri -
dc.description.abstract Purpose: Aerial spraying with an agricultural unmanned helicopter became a new paradigm in the agricultural practice.
Laterally tilting behavior of a conventional agricultural helicopter, resulting in the biased down-wash and uneven spray deposit is a physically intrinsic phenomenon while hovering and cruise flights. Authors studied and developed a roll-balanced agricultural helicopter with a raised pylon tail rotor system. In this study, the attitude of the roll-balanced helicopter was determined using the Kalman filter algorithm, and the quality of roll balancing of a bare-airframe helicopter was evaluated. Methods: Instantaneous attitudes were estimated using the advantage of gyroscope, followed by the long term correction and prediction using accelerometer data for the advantage of convergence. The attitudes of the fuselage were calculated by applying the Kalman filter algorithm. The spraying maneuver of the helicopter was performed at a field of 50 m long, and the attitude data were acquired and evaluated. Results: The determination of attitude using the inertial measurement unit(IMU) and Kalman filter was reliable and practical. The intrinsic attitude of the developed helicopter was stable and roll-balanced. The deviation of roll angle was ±6.3° with an average of 0°, referring to roll-balanced. Conclusions:Handling quality of the roll attitude determined to be steadily balanced. The balancing behavior of the developed helicopter would result in an even spray pattern during aerial application.
dc.language Korean -
dc.publisher 한국농업기계학회 -
dc.subject Flight attitude -
dc.subject Inertial measurement unit -
dc.subject Kalman filter -
dc.subject Roll-balanced fuselage -
dc.subject Unmanned agricultural helicopter -
dc.title 칼만필터를 이용한 농용 균평헬리콥터의 살포비행자세 평가 -
dc.title.alternative Evaluation of Spray Flight Attitude for Agricultural Roll-balanced Helicopter using Kalman Filter -
dc.type Article -
dc.identifier.doi 10.5307/JBE.2012.37.6.342 -
dc.type.local Article(Domestic) -
dc.type.rims ART -
dc.description.journalClass 2 -
dc.identifier.kciid ART001734762 -
dc.contributor.nonIdAuthor 구영모 -
dc.identifier.citationVolume 37 -
dc.identifier.citationNumber 6 -
dc.identifier.citationStartPage 342 -
dc.identifier.citationEndPage 351 -
dc.identifier.citationTitle Journal of Biosystems Engineering -
dc.description.isOpenAccess N -
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